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diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00022/resolved_config.yaml b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00022/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9a34e8ae41ad68b820f9b290efb8526e9d7d0696 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00022/resolved_config.yaml @@ -0,0 +1,215 @@ +name: fast_2beaker_central_longmix_s03_psl_knn_00022 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker a from home. Shake the current contents of + beaker a once. Place beaker a at inspection platform. + layout_id: layout_00022 + reproducibility: + enabled: true + layout_id: layout_00022 + action_seed: 2714716839106178401 + step_seeds: + - 6879855307333582930 + - 3555770340888182057 + - 838946150517897658 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.2781 + - 0.2781 + 'y': + - 0.13 + - 0.13 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.276 + - 0.276 + 'y': + - 0.0154 + - 0.0154 + z: + - 0.0 + - 0.0 + role: receiver + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.2571 + - 0.2571 + 'y': + - -0.1585 + - -0.1585 + z: + - 0.0 + - 0.0 + role: placement_target + steps: + - skill: pick + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.3 + 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_a + 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: inspection_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + position_threshold: 0.015 + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 +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/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00022 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00022/results/episode_110_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00022/results/episode_110_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bbf9cab4a14a93ec79f063a670d12ec9dbaeac91 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00022/results/episode_110_success.json @@ -0,0 +1,699 @@ +{ + "episode": 110, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, 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diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00023/resolved_config.yaml b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00023/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6bab7816fb33a2b928caba3b9bd8b4346a5b267f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00023/resolved_config.yaml @@ -0,0 +1,215 @@ +name: fast_2beaker_central_longmix_s03_psl_knn_00023 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker a from home. Shake the current contents of + beaker a once. Place beaker a at inspection platform. + layout_id: layout_00023 + reproducibility: + enabled: true + layout_id: layout_00023 + action_seed: 816907636393322120 + step_seeds: + - 6025886195317364167 + - 912408632159906142 + - 5099940445753200938 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.2605 + - 0.2605 + 'y': + - 0.1389 + - 0.1389 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.2731 + - 0.2731 + 'y': + - 0.0184 + - 0.0184 + z: + - 0.0 + - 0.0 + role: receiver + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.2537 + - 0.2537 + 'y': + - -0.141 + - -0.141 + z: + - 0.0 + - 0.0 + role: placement_target + steps: + - skill: pick + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.3 + 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_a + 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: inspection_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + position_threshold: 0.015 + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 +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/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00023 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00023/results/episode_0_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00023/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4d026aa5f7abbcfb823fb66df23c379e731d5108 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00023/results/episode_0_success.json @@ -0,0 +1,693 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + 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], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [ + { + "a": 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"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", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + 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"joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + 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diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00024/resolved_config.yaml b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00024/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8f0193d3168b835a73ed740f3efc2f5b5fe3a592 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00024/resolved_config.yaml @@ -0,0 +1,215 @@ +name: fast_2beaker_central_longmix_s03_psl_knn_00024 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker a from home. Shake the current contents of + beaker a once. Place beaker a at inspection platform. + layout_id: layout_00024 + reproducibility: + enabled: true + layout_id: layout_00024 + action_seed: 4283508074911090697 + step_seeds: + - 624659677329847726 + - 1272775230356696008 + - 6598834107714139108 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.304 + - 0.304 + 'y': + - -0.1026 + - -0.1026 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.2792 + - 0.2792 + 'y': + - 0.005 + - 0.005 + z: + - 0.0 + - 0.0 + role: receiver + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.2364 + - 0.2364 + 'y': + - 0.1917 + - 0.1917 + z: + - 0.0 + - 0.0 + role: placement_target + steps: + - skill: pick + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.3 + 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_a + 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: inspection_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + position_threshold: 0.015 + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 +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/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00024 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00024/results/episode_0_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00024/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f6f8dc3e279d823a4b110902322cab8698df984f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00024/results/episode_0_success.json @@ -0,0 +1,686 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + 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+ "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + 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diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00025/resolved_config.yaml b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00025/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c720fddb4b9e861b3199d40761e38f5c9b8b300b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00025/resolved_config.yaml @@ -0,0 +1,215 @@ +name: fast_2beaker_central_longmix_s03_psl_knn_00025 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker a from home. Shake the current contents of + beaker a once. Place beaker a at inspection platform. + layout_id: layout_00025 + reproducibility: + enabled: true + layout_id: layout_00025 + action_seed: 8946113069649801365 + step_seeds: + - 3535246988300564580 + - 3930001998081723350 + - 4554555277898534358 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.3111 + - 0.3111 + 'y': + - -0.1302 + - -0.1302 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.2661 + - 0.2661 + 'y': + - -0.0076 + - -0.0076 + z: + - 0.0 + - 0.0 + role: receiver + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.2509 + - 0.2509 + 'y': + - 0.1812 + - 0.1812 + z: + - 0.0 + - 0.0 + role: placement_target + steps: + - skill: pick + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.3 + 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_a + 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: inspection_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + position_threshold: 0.015 + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 +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/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00025 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00025/results/episode_0_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00025/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6d8630d26339087d0ffe80753e25a4591c532423 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00025/results/episode_0_success.json @@ -0,0 +1,686 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + 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diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00026/resolved_config.yaml b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00026/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9ee5327ad8a75c3557b72aafbce97d0ff8abd583 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00026/resolved_config.yaml @@ -0,0 +1,215 @@ +name: fast_2beaker_central_longmix_s03_psl_knn_00026 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker a from home. Shake the current contents of + beaker a once. Place beaker a at inspection platform. + layout_id: layout_00026 + reproducibility: + enabled: true + layout_id: layout_00026 + action_seed: 8709091252989081451 + step_seeds: + - 8125585604563232929 + - 4598593424619752825 + - 6528445040825174555 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.2834 + - 0.2834 + 'y': + - -0.0835 + - -0.0835 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.3075 + - 0.3075 + 'y': + - 0.0319 + - 0.0319 + z: + - 0.0 + - 0.0 + role: receiver + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.2373 + - 0.2373 + 'y': + - 0.2164 + - 0.2164 + z: + - 0.0 + - 0.0 + role: placement_target + steps: + - skill: pick + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.3 + 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_a + 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: inspection_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + position_threshold: 0.015 + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 +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/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00026 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00026/results/episode_0_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00026/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7577b2bce7f033fe00e2791686fec34e3fce8247 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00026/results/episode_0_success.json @@ -0,0 +1,686 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + 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