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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00057/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00057/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cac90660cabe06f2db46ff029e1475eeff59fe4f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00057/resolved_config.yaml @@ -0,0 +1,257 @@ +name: lab3_heat_2beaker_s04_pslr_hte_00057 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker b from home. Shake the current contents of + beaker b once. Place beaker b on the heater platform. Press the heater button + to start heating. + layout_id: layout_00057 + reproducibility: + enabled: true + layout_id: layout_00057 + action_seed: 5106355436221068052 + step_seeds: + - 4323989940823993527 + - 8704966294952389805 + - 6674651521802004006 + - 6626696767620207334 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.3283 + - 0.3283 + 'y': + - 0.0866 + - 0.0866 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.2615 + - 0.2615 + 'y': + - -0.0413 + - -0.0413 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.3219 + - 0.3219 + 'y': + - 0.2425 + - 0.2425 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2068 + - 0.2068 + 'y': + - -0.3286 + - -0.3286 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + - name: heat_button + path: /World/heat_device/button + parent_object: heat_device + steps: + - skill: pick + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.3 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + - skill: shake + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + shake_distance: 0.08 + shake_center_offset_z: 0.0 + fallback_height_offset: 0.23 + events_dt: + - 0.04 + - 0.018 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.015 + position_only: true + position_threshold: 0.04 + - skill: place + target_object: heater_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.005 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.045 + retreat_height: 0.15 + retreat_xy: 0.15 + keep_gripper_closed_until_release: true + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - skill: press + target_object: heat_button + params: + end_effector_euler: + - 0 + - 90 + - 10 + events_dt: + - 0.004 + - 0.02 + - 0.01 + - 0.02 + - 0.01 + - 0.02 + press_distance: 0.04 + gripper_gap: 0.0 + lock_target_position: true + initial_offset_z: 0.2 + press_z_tcp_offset: 0.025 + position_threshold: 0.01 + recreate_motion_controllers_on_reset: true +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00057 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00057/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00057/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..46710c2a4e11fbb7ea456d56e269d5b9618bf0d0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00057/results/episode_0_success.json @@ -0,0 +1,926 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.28197796194261476, + -0.040010348303650384, + 1.0449759494222794 + ], + "current_z": 1.0449759494222794, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.18838944201371377, + 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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00058/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00058/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1fcc42c43faae7f778d1e843bb66326683a6a386 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00058/resolved_config.yaml @@ -0,0 +1,257 @@ +name: lab3_heat_2beaker_s04_pslr_hte_00058 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker b from home. Shake the current contents of + beaker b once. Place beaker b on the heater platform. Press the heater button + to start heating. + layout_id: layout_00058 + reproducibility: + enabled: true + layout_id: layout_00058 + action_seed: 7969100999170547070 + step_seeds: + - 1975566177813878537 + - 3147278061683197565 + - 3415829991598256493 + - 2128182443798297403 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.2373 + - 0.2373 + 'y': + - 0.1979 + - 0.1979 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.2749 + - 0.2749 + 'y': + - -0.136 + - -0.136 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.3454 + - 0.3454 + 'y': + - 0.0592 + - 0.0592 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2694 + - 0.2694 + 'y': + - -0.3578 + - -0.3578 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + - name: heat_button + path: /World/heat_device/button + parent_object: heat_device + steps: + - skill: pick + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.3 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + - skill: shake + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + shake_distance: 0.08 + shake_center_offset_z: 0.0 + fallback_height_offset: 0.23 + events_dt: + - 0.04 + - 0.018 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.015 + position_only: true + position_threshold: 0.04 + - skill: place + target_object: heater_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.005 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.045 + retreat_height: 0.15 + retreat_xy: 0.15 + keep_gripper_closed_until_release: true + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - skill: press + target_object: heat_button + params: + end_effector_euler: + - 0 + - 90 + - 10 + events_dt: + - 0.004 + - 0.02 + - 0.01 + - 0.02 + - 0.01 + - 0.02 + press_distance: 0.04 + gripper_gap: 0.0 + lock_target_position: true + initial_offset_z: 0.2 + press_z_tcp_offset: 0.025 + position_threshold: 0.01 + recreate_motion_controllers_on_reset: true +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00058 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00058/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00058/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..42149f3946f1c11d81e362931aeca4a70236dd3c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00058/results/episode_0_success.json @@ -0,0 +1,926 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.30208227459953885, + -0.13502339603081653, + 1.0482209718634365 + ], + "current_z": 1.0482209718634365, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.19163452405951575, + "gripper_z": 1.050917353042761, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2977679730518804, + -0.1393609458273466, + 1.050917353042761 + ], + "object_minus_gripper": [ + 0.004314301547658439, + 0.00433754979653006, + -0.0026963811793243586 + ], + "object_to_gripper_xy": 0.006117804841730894, + "object_to_gripper_z": -0.0026963811793243586, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30208227459953885, + -0.15911358248361668, + 1.0482209718634365 + ], + "finger_b": [ + 0.2914047822500131, + -0.13502339603081653, + 1.0482209718634365 + ], + "finger_midpoint": [ + 0.29674352842477597, + -0.1470684892572166, + 1.0482209718634365 + ], + "object_minus_finger_midpoint": [ + 0.005338746174762876, + 0.012045093226400072, + 0.0 + ], + "finger_gap": 0.02635044451626683, + "fingertip_max_gap": 0.09188344964921721, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013175222258133414, + 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"panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + 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+ "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33122172643253667, + -0.3516152894134965, + 0.8470193314253902 + ], + "target_position": [ + 0.3220173725418896, + -0.3547983877912472, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009739211766190773, + "xy_threshold": 0.08, + "gripper_dist": 0.18771602078479546, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470193314253902, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07529743531080463, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08531605986061096, + 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